Control of ROV Thrusters via Discrete Modal State Controller

Most of the underwater activities are carried out with a Remotely Operated Vehicle (ROV). ROVs are driven by thrusters, and controlling the movement of the ROV underwater is related to continuous regulation of the speed of the electric motors driving its thrusters. This paper presents one variant of ROV propulsion control using a discrete modal state controller. A mathematical description in the state space has been made for one of the most commonly used electric motors. The operation algorithm of the discrete modal state controller to calculate the feedback vector was developed and simulation modeling was done in MATLAB/Simulink.